redo our influxdb schema & logic, split out to separate file, slim down
bert hubert
parent
b9dec50f4a
commit
1d1efcb080
2
Makefile
2
Makefile
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@ -36,7 +36,7 @@ clean:
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decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o
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$(CXX) -std=gnu++17 $^ -o $@
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navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o ${EXTRADEP}
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navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP}
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$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY)
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reporter: reporter.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o
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@ -0,0 +1,126 @@
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#include "influxpush.hh"
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#include "minicurl.hh"
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using namespace std;
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InfluxPusher::InfluxPusher(std::string_view dbname) : d_dbname(dbname)
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{
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if(dbname=="null") {
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d_mute = true;
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cout<<"Not sending data to influxdb"<<endl;
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}
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}
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void InfluxPusher::queueValue(const std::string& line)
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{
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d_buffer.insert(line);
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// if(d_buffer.insert(line).second)
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// cout<<line;
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checkSend();
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}
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void InfluxPusher::addValueObserver(int src, string_view name, const initializer_list<pair<const char*, double>>& values, double t, std::optional<SatID> satid)
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{
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if(d_mute)
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return;
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if(t > 2200000000 || t < 0) {
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cerr<<"Unable to store item "<<name<<" for observer "<<src<<": time out of range "<<t<<endl;
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return;
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}
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for(const auto& p : values) {
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if(isnan(p.second))
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return;
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}
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string buffer;
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buffer+= string(name)+",src="+to_string(src);
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if(satid) {
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buffer+=",gnssid="+to_string(satid->gnss)+ +",sv=" +to_string(satid->sv)+",sigid="+to_string(satid->sigid);
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}
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buffer+= " ";
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bool lefirst=true;
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for(const auto& v : values) {
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if(!lefirst) {
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buffer +=",";
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}
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lefirst=false;
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buffer += string(v.first) + "="+to_string(v.second);
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}
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buffer += " " + to_string((uint64_t)(t* 1000000000))+"\n";
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queueValue(buffer);
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}
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void InfluxPusher::addValue(const SatID& id, string_view name, const initializer_list<pair<const char*, double>>& values, double t, std::optional<int> src)
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{
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if(d_mute)
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return;
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if(t > 2200000000 || t < 0) {
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cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<t<<endl;
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return;
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}
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for(const auto& p : values) {
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if(isnan(p.second))
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return;
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}
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string buffer = string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
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if(src)
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buffer += ",src="+to_string(*src);
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buffer+= " ";
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bool lefirst=true;
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for(const auto& v : values) {
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if(!lefirst) {
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buffer +=",";
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}
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lefirst=false;
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buffer += string(v.first) + "="+to_string(v.second);
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}
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buffer += " " + to_string((uint64_t)(t*1000000000))+"\n";
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queueValue(buffer);
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}
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void InfluxPusher::checkSend()
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{
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if(d_buffer.size() > 10000 || (time(0) - d_lastsent) > 10) {
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set<string> buffer;
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buffer.swap(d_buffer);
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// thread t([buffer,this]() {
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if(!d_mute)
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doSend(buffer);
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// });
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// t.detach();
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d_lastsent=time(0);
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}
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}
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void InfluxPusher::doSend(const set<std::string>& buffer)
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{
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MiniCurl mc;
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MiniCurl::MiniCurlHeaders mch;
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if(!buffer.empty()) {
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string newout;
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for(const auto& nl: buffer)
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newout.append(nl);
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/*
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ofstream infl;
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infl.open ("infl.txt", std::ofstream::out | std::ofstream::app);
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infl << newout;
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*/
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mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, newout, mch);
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}
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}
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InfluxPusher::~InfluxPusher()
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{
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if(d_dbname != "null")
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doSend(d_buffer);
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}
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@ -0,0 +1,23 @@
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#pragma once
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#include <string>
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#include <set>
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#include <optional>
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#include <initializer_list>
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#include "navparse.hh"
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struct InfluxPusher
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{
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explicit InfluxPusher(std::string_view dbname);
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void addValueObserver(int src, std::string_view name, const std::initializer_list<std::pair<const char*, double>>& values, double t, std::optional<SatID> satid=std::optional<SatID>());
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void addValue(const SatID& id, std::string_view name, const std::initializer_list<std::pair<const char*, double>>& values, double t, std::optional<int> src = std::optional<int>());
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void checkSend();
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void doSend(const std::set<std::string>& buffer);
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~InfluxPusher();
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std::set<std::string> d_buffer;
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void queueValue(const std::string& line);
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time_t d_lastsent{0};
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string d_dbname;
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bool d_mute{false};
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};
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385
navparse.cc
385
navparse.cc
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@ -29,6 +29,7 @@
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#include <Tle.h>
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#include "navparse.hh"
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#include <fenv.h>
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#include "influxpush.hh"
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using namespace std;
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@ -320,170 +321,11 @@ int64_t nanoTime(int gnssid, int wn, double tow)
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return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLS);
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}
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struct InfluxPusher
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double satUTCTime(const SatID& id)
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{
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explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname)
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{
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if(dbname=="null") {
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d_mute = true;
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cout<<"Not sending data to influxdb"<<endl;
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}
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}
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return nanoTime(id.gnss, g_svstats[id].wn, g_svstats[id].tow)/1000000000.0;
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}
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template<typename T>
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void addValue( const pair<SatID,SVStat>& ent, string_view name, const T& value)
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{
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if(d_mute)
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return;
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if(nanoTime (ent.first.gnss, ent.second.wn, ent.second.tow)/1000000000 > 2000000000) {
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cerr<<"Unable to store item "<<name<<" for sv "<<ent.first.gnss<<","<<ent.first.sv<<": time out of range "<<ent.second.wn<<" "<<ent.second.tow<<endl;
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return;
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}
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d_buffer+= string(name)+",gnssid="+to_string(ent.first.gnss)+ +",sv=" +to_string(ent.first.sv)+",sigid="+to_string(ent.first.sigid);
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d_buffer+=" value="+to_string(value)+
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" "+to_string(nanoTime(ent.first.gnss, ent.second.wn, ent.second.tow))+"\n";
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checkSend();
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}
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template<typename T>
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void addValueObserver(int src, string_view name, const T& value, time_t t)
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{
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if(d_mute)
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return;
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d_buffer+= string(name)+",src="+to_string(src)+ " value="+to_string(value)+
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" "+to_string(t*1000000000)+"\n";
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checkSend();
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}
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void addValueObserver(int src, string_view name, const initializer_list<pair<const char*, double>>& values, time_t t, std::optional<SatID> satid=std::optional<SatID>())
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{
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if(d_mute)
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return;
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if(t > 2200000000) {
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cerr<<"Unable to store item "<<name<<" for observer "<<src<<": time out of range "<<t<<endl;
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return;
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}
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for(const auto& p : values) {
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if(isnan(p.second))
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return;
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}
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d_buffer+= string(name)+",src="+to_string(src);
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if(satid) {
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d_buffer+=",gnssid="+to_string(satid->gnss)+ +",sv=" +to_string(satid->sv)+",sigid="+to_string(satid->sigid);
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}
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d_buffer+= " ";
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bool lefirst=true;
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for(const auto& v : values) {
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if(!lefirst) {
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d_buffer +=",";
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}
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lefirst=false;
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d_buffer += string(v.first) + "="+to_string(v.second);
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}
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d_buffer += " " + to_string(t* 1000000000)+"\n";
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checkSend();
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}
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template<typename T>
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void addValue(const SatID& id, string_view name, const T& value, std::optional<int> src = std::optional<int>())
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{
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if(d_mute)
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return;
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if(nanoTime (id.gnss, g_svstats[id].wn, g_svstats[id].tow)/1000000000 > 2000000000) {
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cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<g_svstats[id].wn<<" "<< g_svstats[id].tow<<endl;
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return;
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}
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if(g_svstats[id].wn ==0 && g_svstats[id].tow == 0)
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return;
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// cout << g_svstats[id].wn <<", "<<g_svstats[id].tow<<" -> " <<nanoTime(id.first, g_svstats[id].wn, g_svstats[id].tow)<<endl;
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d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
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if(src)
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d_buffer += ",src="+to_string(*src);
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d_buffer+= " value="+to_string(value)+" "+
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to_string(nanoTime(id.gnss, g_svstats[id].wn, g_svstats[id].tow))+"\n";
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checkSend();
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}
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void addValue(const SatID& id, uint64_t nanotime, string_view name, const initializer_list<pair<const char*, double>>& values, std::optional<int> src = std::optional<int>())
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{
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if(d_mute)
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return;
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if(nanotime/1000000000 > 2000000000) {
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cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<nanotime;
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return;
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}
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for(const auto& p : values) {
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if(isnan(p.second))
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return;
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}
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d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
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if(src)
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d_buffer += ",src="+to_string(*src);
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d_buffer+= " ";
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bool lefirst=true;
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for(const auto& v : values) {
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if(!lefirst) {
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d_buffer +=",";
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}
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lefirst=false;
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d_buffer += string(v.first) + "="+to_string(v.second);
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}
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d_buffer += " " + to_string(nanotime)+"\n";
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checkSend();
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}
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void checkSend()
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{
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if(d_buffer.size() > 1000000 || (time(0) - d_lastsent) > 10) {
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string buffer;
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buffer.swap(d_buffer);
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// thread t([buffer,this]() {
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if(!d_mute)
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doSend(buffer);
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// });
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// t.detach();
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d_lastsent=time(0);
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}
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}
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void doSend(std::string buffer)
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{
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MiniCurl mc;
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MiniCurl::MiniCurlHeaders mch;
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if(!buffer.empty()) {
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mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, buffer, mch);
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}
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}
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~InfluxPusher()
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{
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if(d_dbname != "null")
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doSend(d_buffer);
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}
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std::string d_buffer;
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time_t d_lastsent{0};
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string d_dbname;
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bool d_mute{false};
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};
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/* The GST start epoch is defined as 13 seconds before midnight between 21st August and
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22nd August 1999, i.e. GST was equal to 13 seconds at 22nd August 1999 00:00:00 UTC. */
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@ -1452,7 +1294,7 @@ try
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nlohmann::json perrecv = nlohmann::json::object();
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for(const auto& pr : s.second.perrecv) {
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if(pr.second.db > 0) {
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if(pr.second.db > 0 || (time(0) - pr.second.t < 1800)) {
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nlohmann::json det = nlohmann::json::object();
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det["elev"] = pr.second.el;
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Point sat;
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@ -1586,7 +1428,7 @@ try
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if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) {
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if(!(random() % 4))
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idb.addValue(id, nmm.localutcseconds()*1000000000, "recdata",
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idb.addValue(id, "recdata",
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{
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{"db", nmm.rd().db()},
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{"azi", getAzimuthDeg(sat, g_srcpos[nmm.sourceid()].pos)},
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@ -1594,7 +1436,7 @@ try
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{"prres", nmm.rd().prres()},
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{"qi", perrecv.qi},
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{"used", perrecv.used}
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}, nmm.sourceid());
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}, nmm.localutcseconds() + nmm.localutcnanoseconds()/1000000000.0, nmm.sourceid());
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}
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}
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@ -1616,8 +1458,8 @@ try
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if(wtype == 1 || wtype == 2 || wtype == 3) {
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idb.addValue(id, "iod-live", svstat.galmsg.iodnav);
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idb.addValue(id, "eph-age", ephAge(gm.tow, gm.getT0e()));
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idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav},
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{"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id));
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}
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if(wtype == 5 && svstat.galmsgTyped.count(5)) {
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const auto& old5gm = svstat.galmsgTyped[5];
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@ -1642,52 +1484,58 @@ try
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if(wtype >=1 && wtype <= 4) { // ephemeris
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uint16_t iod = getbitu(&inav[0], 6, 10);
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if(wtype == 3) {
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idb.addValue(id, "sisa", g_svstats[id].iods[iod].sisa);
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idb.addValue(id, "sisa", {{"value", g_svstats[id].iods[iod].sisa}}, satUTCTime(id));
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}
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else if(wtype == 4) {
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idb.addValue(id, "af0", g_svstats[id].iods[iod].af0);
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idb.addValue(id, "af1", g_svstats[id].iods[iod].af1);
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idb.addValue(id, "af2", g_svstats[id].iods[iod].af2);
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idb.addValue(id, "t0c", g_svstats[id].iods[iod].t0c * 60);
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idb.addValue(id, "atomic_offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow).first);
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idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow).first},
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{"t0c", g_svstats[id].iods[iod].t0c*60},
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{"af0", g_svstats[id].iods[iod].af0},
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{"af1", g_svstats[id].iods[iod].af1},
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{"af2", g_svstats[id].iods[iod].af2}}, satUTCTime(id));
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if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) {
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auto oldOffset = oldgm.getAtomicOffset(svstat.tow);
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auto newOffset = svstat.galmsg.getAtomicOffset(svstat.tow);
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svstat.timeDisco = oldOffset.first - newOffset.first;
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idb.addValue(id, "clock_jump_ns", svstat.timeDisco);
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idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
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}
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}
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}
|
||||
else if(wtype == 5) {
|
||||
idb.addValue(id, "ai0", g_svstats[id].ai0);
|
||||
idb.addValue(id, "ai1", g_svstats[id].ai1);
|
||||
idb.addValue(id, "ai2", g_svstats[id].ai2);
|
||||
idb.addValue(id, "iono", {
|
||||
{"ai0", g_svstats[id].ai0},
|
||||
{"ai1", g_svstats[id].ai1},
|
||||
{"ai2", g_svstats[id].ai2},
|
||||
{"sf1", g_svstats[id].sf1},
|
||||
{"sf2", g_svstats[id].sf2},
|
||||
{"sf3", g_svstats[id].sf3},
|
||||
{"sf4", g_svstats[id].sf4},
|
||||
{"sf5", g_svstats[id].sf5}}, satUTCTime(id));
|
||||
|
||||
|
||||
idb.addValue(id, "sf1", g_svstats[id].sf1);
|
||||
idb.addValue(id, "sf2", g_svstats[id].sf2);
|
||||
idb.addValue(id, "sf3", g_svstats[id].sf3);
|
||||
idb.addValue(id, "sf4", g_svstats[id].sf4);
|
||||
idb.addValue(id, "sf5", g_svstats[id].sf5);
|
||||
idb.addValue(id, "galbgd", {
|
||||
{"BGDE1E5a", g_svstats[id].BGDE1E5a},
|
||||
{"BGDE1E5b", g_svstats[id].BGDE1E5b}}, satUTCTime(id));
|
||||
|
||||
|
||||
idb.addValue(id, "BGDE1E5a", g_svstats[id].BGDE1E5a);
|
||||
idb.addValue(id, "BGDE1E5b", g_svstats[id].BGDE1E5b);
|
||||
|
||||
idb.addValue(id, "e1bhs", g_svstats[id].e1bhs);
|
||||
idb.addValue(id, "e5bhs", g_svstats[id].e5bhs);
|
||||
idb.addValue(id, "e5bdvs", g_svstats[id].e5bdvs);
|
||||
idb.addValue(id, "e1bdvs", g_svstats[id].e1bdvs);
|
||||
idb.addValue(id, "galhealth", {
|
||||
{"e1bhs", g_svstats[id].e1bhs},
|
||||
{"e5bhs", g_svstats[id].e5bhs},
|
||||
{"e5bdvs", g_svstats[id].e5bdvs},
|
||||
{"e1bdvs", g_svstats[id].e1bdvs}}, satUTCTime(id));
|
||||
}
|
||||
else if(wtype == 6) { // GST-UTC
|
||||
idb.addValue(id, "a0", g_svstats[id].a0);
|
||||
idb.addValue(id, "a1", g_svstats[id].a1);
|
||||
int dw = (uint8_t)g_svstats[id].wn - g_svstats[id].wn0t;
|
||||
int age = dw * 7 * 86400 + g_svstats[id].tow - g_svstats[id].t0t; // t0t is PRESCALED
|
||||
|
||||
long shift = g_svstats[id].a0 * (1LL<<20) + g_svstats[id].a1 * age; // in 2^-50 seconds units
|
||||
idb.addValue(id, "utc_diff_ns", 1.073741824*ldexp(1.0*shift, -20));
|
||||
idb.addValue(id, "utcoffset", {
|
||||
{"a0", g_svstats[id].a0},
|
||||
{"a1", g_svstats[id].a1},
|
||||
{"delta", 1.073741824*ldexp(1.0*shift, -20)}
|
||||
},
|
||||
satUTCTime(id));
|
||||
|
||||
g_dtLS = g_svstats[id].dtLS;
|
||||
}
|
||||
|
|
@ -1718,17 +1566,17 @@ try
|
|||
g_galileoalma[gm.alma3.svid] = gm.alma3;
|
||||
}
|
||||
|
||||
|
||||
idb.addValue(id, "a0g", g_svstats[id].a0g);
|
||||
idb.addValue(id, "a1g", g_svstats[id].a1g);
|
||||
idb.addValue(id, "t0g", g_svstats[id].t0g);
|
||||
uint8_t wn0g = g_svstats[id].wn0t;
|
||||
int dwg = (((uint8_t)g_svstats[id].wn)&(1+2+4+8+16+32)) - wn0g;
|
||||
int age = dwg*7*86400 + g_svstats[id].tow - g_svstats[id].t0g * 3600;
|
||||
|
||||
long shift = g_svstats[id].a0g * (1L<<16) + g_svstats[id].a1g * age; // in 2^-51 seconds units
|
||||
idb.addValue(id, "gpsoffset", {{"a0g", g_svstats[id].a0g},
|
||||
{"a1g", g_svstats[id].a1g},
|
||||
{"t0g", g_svstats[id].t0g},
|
||||
{"delta", 1.073741824*ldexp(shift, -21)}
|
||||
}, satUTCTime(id));
|
||||
|
||||
idb.addValue(id, "gps_gst_offset_ns", 1.073741824*ldexp(shift, -21));
|
||||
}
|
||||
|
||||
for(auto& ent : g_svstats) {
|
||||
|
|
@ -1752,11 +1600,8 @@ try
|
|||
double hours = (1.0*(ent.second.liveIOD().t0e - ent.second.prevIOD.second.t0e)/3600.0); // XXX week jump
|
||||
double disco = Vector(p, oldp).length();
|
||||
// cout<<id.first<<","<<id.second<<" discontinuity after "<< hours<<" hours: "<< disco <<endl;
|
||||
idb.addValue(id, "iod-actual", ent.second.getIOD());
|
||||
idb.addValue(id, "iod-hours", hours);
|
||||
|
||||
if(hours < 4) {
|
||||
idb.addValue(id, "eph-disco", disco);
|
||||
g_svstats[id].latestDisco= disco;
|
||||
g_svstats[id].latestDiscoAge= hours*3600;
|
||||
}
|
||||
|
|
@ -1764,32 +1609,17 @@ try
|
|||
g_svstats[id].latestDisco= -1;
|
||||
|
||||
if(hours < 24) {
|
||||
idb.addValue(id, nanoTime(id.gnss, ent.second.wn, ent.second.tow), "eph-disco2",
|
||||
idb.addValue(id, "eph-disco",
|
||||
{{"meters", disco},
|
||||
{"seconds", hours*3600.0},
|
||||
{"oldx", oldp.x}, {"oldy", oldp.y}, {"oldz", oldp.z},
|
||||
{"x", p.x}, {"y", p.y}, {"z", p.z},
|
||||
{"oid", 1.0*ent.second.getIOD()},
|
||||
{"oldoid", 1.0*ent.second.prevIOD.first}});
|
||||
}
|
||||
|
||||
|
||||
|
||||
if(0 && hours < 2) {
|
||||
ofstream orbitcsv("orbit."+to_string(id.gnss)+"."+to_string(id.sv)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
|
||||
|
||||
orbitcsv << "timestamp x y z oldx oldy oldz\n";
|
||||
orbitcsv << fixed;
|
||||
for(int offset = -7200; offset < 7200; offset += 30) {
|
||||
int t = ent.second.liveIOD().t0e + offset;
|
||||
Point p, oldp;
|
||||
getCoordinates(t, ent.second.liveIOD(), &p);
|
||||
getCoordinates(t, ent.second.prevIOD.second, &oldp);
|
||||
time_t posix = utcFromGST(ent.second.wn, t);
|
||||
orbitcsv << posix <<" "
|
||||
<<p.x<<" " <<p.y<<" "<<p.z<<" "
|
||||
<<oldp.x<<" " <<oldp.y<<" "<<oldp.z<<"\n";
|
||||
}
|
||||
{"seconds", hours*3600.0},
|
||||
{"oldx", oldp.x},
|
||||
{"oldy", oldp.y},
|
||||
{"oldz", oldp.z},
|
||||
{"x", p.x},
|
||||
{"y", p.y},
|
||||
{"z", p.z},
|
||||
{"oid", 1.0*ent.second.getIOD()},
|
||||
{"oldoid", 1.0*ent.second.prevIOD.first}}, satUTCTime(id));
|
||||
}
|
||||
}
|
||||
ent.second.clearPrev();
|
||||
|
|
@ -1832,7 +1662,7 @@ try
|
|||
g_svstats[id].perrecv[nmm.sourceid()].db = nmm.rfd().cno();
|
||||
|
||||
|
||||
idb.addValue(id, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow()), "rfdata",
|
||||
idb.addValueObserver(nmm.sourceid(), "rfdata",
|
||||
{{"carrierphase", nmm.rfd().carrierphase()},
|
||||
{"doppler", nmm.rfd().doppler()},
|
||||
{"locktime", nmm.rfd().locktimems()},
|
||||
|
|
@ -1841,7 +1671,8 @@ try
|
|||
{"cpstd", nmm.rfd().cpstd()},
|
||||
{"dostd", nmm.rfd().dostd()}
|
||||
|
||||
}, nmm.sourceid());
|
||||
}, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow())/1000000000.0, id);
|
||||
|
||||
if(id.gnss == 3 && g_svstats[id].oldBeidouMessage.sow >= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) {
|
||||
double freq = 1561.098;
|
||||
if(nmm.rfd().sigid() != 0)
|
||||
|
|
@ -1862,20 +1693,20 @@ try
|
|||
g_svstats[id].perrecv[nmm.sourceid()].deltaHz = nmm.rfd().doppler() - res.preddop;
|
||||
g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t;
|
||||
|
||||
idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop);
|
||||
// idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop);
|
||||
auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats);
|
||||
if(corr) {
|
||||
idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr));
|
||||
// idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr));
|
||||
Point sat;
|
||||
getCoordinates(nmm.rfd().rcvtow(), g_svstats[id].oldBeidouMessage, &sat);
|
||||
|
||||
idb.addValue(id, 1000000000.0*t, "correlator",
|
||||
idb.addValue(id, "correlator",
|
||||
{{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)},
|
||||
{"delta_hz", nmm.rfd().doppler() - res.preddop},
|
||||
{"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)},
|
||||
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
|
||||
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}
|
||||
}, nmm.sourceid());
|
||||
}, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow())/1000000000.0, nmm.sourceid()); //this time is supplied in GPS timeframe
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -1901,18 +1732,18 @@ try
|
|||
if(t - g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime > 10) { // only replace after 5 seconds
|
||||
g_svstats[id].perrecv[nmm.sourceid()].deltaHz = nmm.rfd().doppler() - res.preddop;
|
||||
g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t;
|
||||
idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop);
|
||||
// idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop);
|
||||
auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats);
|
||||
if(corr) {
|
||||
idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr, nmm.sourceid());
|
||||
idb.addValue(id, 1000000000.0*t, "correlator",
|
||||
// idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr, nmm.sourceid());
|
||||
idb.addValue(id, "correlator",
|
||||
{{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)},
|
||||
{"delta_hz", nmm.rfd().doppler() - res.preddop},
|
||||
{"hz", nmm.rfd().doppler()},
|
||||
{"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)},
|
||||
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
|
||||
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}
|
||||
}, nmm.sourceid());
|
||||
}, t, nmm.sourceid());
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -1983,32 +1814,32 @@ try
|
|||
auto res = doDoppler(tsat, g_srcpos[nmm.sourceid()].pos, g_svstats[id].liveIOD(),freqMHZ * 1000000);
|
||||
|
||||
|
||||
idb.addValueObserver((int)nmm.sourceid(), "orbit",
|
||||
{{"preddop", res.preddop},
|
||||
{"radvel", res.radvel}}, (time_t)nmm.localutcseconds(), id);
|
||||
// idb.addValueObserver((int)nmm.sourceid(), "orbit",
|
||||
// {{"preddop", res.preddop},
|
||||
// {"radvel", res.radvel}}, (time_t)nmm.localutcseconds(), id);
|
||||
|
||||
// cout << " preddop "<<res.preddop <<" meas "<<tss.dopplerHz <<" delta " << (tss.dopplerHz - res.preddop);
|
||||
double t = utcFromGPS(latestWN(0, g_svstats), tsat);
|
||||
if(t - g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime > 5) { // only replace after 5 seconds
|
||||
g_svstats[id].perrecv[nmm.sourceid()].deltaHz = tss.dopplerHz - res.preddop;
|
||||
g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t;
|
||||
idb.addValue(id, "delta_hz", tss.dopplerHz - res.preddop);
|
||||
// idb.addValue(id, "delta_hz", tss.dopplerHz - res.preddop);
|
||||
|
||||
auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats);
|
||||
if(corr) {
|
||||
Point sat;
|
||||
getCoordinates(tsat, g_svstats[id].liveIOD(), &sat);
|
||||
|
||||
idb.addValue(id, "delta_hz_cor", tss.dopplerHz - res.preddop - *corr, nmm.sourceid());
|
||||
// idb.addValue(id, "delta_hz_cor", tss.dopplerHz - res.preddop - *corr, nmm.sourceid());
|
||||
|
||||
idb.addValue(id, 1000000000.0*t, "correlator",
|
||||
idb.addValue(id, "correlator",
|
||||
{{"delta_hz_cor", tss.dopplerHz - res.preddop - *corr},
|
||||
{"delta_hz", tss.dopplerHz - res.preddop},
|
||||
{"hz", tss.dopplerHz},
|
||||
{"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)},
|
||||
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
|
||||
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}
|
||||
}, nmm.sourceid());
|
||||
}, t, nmm.sourceid());
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -2032,12 +1863,15 @@ try
|
|||
uint8_t page;
|
||||
int frame=parseGPSMessage(cond, svstat, &page);
|
||||
if(frame == 1) {
|
||||
idb.addValue(id, "af0", 8* svstat.af0); // scaled to galileo units - native gps: 2^-31
|
||||
idb.addValue(id, "af1", 8* svstat.af1); // scaled to galileo units - native gps: 2^-43
|
||||
idb.addValue(id, "af2", 16* svstat.af2); // scaled to galileo units
|
||||
idb.addValue(id, "t0c", 16 * svstat.t0c);
|
||||
|
||||
idb.addValue(id, "clock", {{"offset_ns", getGPSAtomicOffset(svstat.tow, svstat).first},
|
||||
{"t0c", 16.0*svstat.t0c},
|
||||
{"af0", 8.0*svstat.af0},
|
||||
{"af1", 8.0*svstat.af1},
|
||||
{"af2", 16.0*svstat.af2}}, satUTCTime(id));
|
||||
|
||||
// cout<<"Got ura "<<svstat.ura<<" for sv "<<id.first<<","<<id.second<<endl;
|
||||
idb.addValue(id, "ura", svstat.ura);
|
||||
idb.addValue(id, "gpsura", {{"value", svstat.ura}}, satUTCTime(id));
|
||||
|
||||
if(oldsvstat.af0 && oldsvstat.ura != svstat.ura) { // XX find better way to check
|
||||
cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" src "<<nmm.sourceid()<<" wn "<<svstat.wn <<" GPS "<<id.sv <<"@"<<id.sigid<<" change in URA ["<< humanUra(oldsvstat.ura) <<"] -> [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
|
||||
|
|
@ -2048,32 +1882,32 @@ try
|
|||
}
|
||||
|
||||
|
||||
double age = ephAge(g_svstats[id].tow, g_svstats[id].t0c * 16);
|
||||
|
||||
double offset = ldexp(1000.0*(1.0*g_svstats[id].af0 + ldexp(age*g_svstats[id].af1, -12)), -31);
|
||||
idb.addValue(id, "atomic_offset_ns", 1000000.0*offset);
|
||||
// double age = ephAge(g_svstats[id].tow, g_svstats[id].t0c * 16);
|
||||
|
||||
if(oldsvstat.af0 && oldsvstat.t0c != svstat.t0c) {
|
||||
auto oldOffset = getGPSAtomicOffset(svstat.tow, oldsvstat);
|
||||
auto newOffset = getGPSAtomicOffset(svstat.tow, svstat);
|
||||
svstat.timeDisco = oldOffset.first - newOffset.first;
|
||||
idb.addValue(id, "clock_jump_ns", svstat.timeDisco);
|
||||
idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
|
||||
}
|
||||
}
|
||||
else if(frame==2) {
|
||||
if(oldsvstat.gpshealth != svstat.gpshealth) {
|
||||
cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" src "<<nmm.sourceid()<<" GPS "<<id.sv <<"@"<<id.sigid<<" change in health: ["<< (int)oldsvstat.gpshealth<<"] -> ["<< (int)svstat.gpshealth<<"] , lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
|
||||
}
|
||||
idb.addValue(id, "gpshealth", g_svstats[id].gpshealth);
|
||||
idb.addValue(id, "gpshealth", {{"value", g_svstats[id].gpshealth}}, satUTCTime(id));
|
||||
}
|
||||
else if(frame==4 && page==18) {
|
||||
idb.addValue(id, "a0", g_svstats[id].a0);
|
||||
idb.addValue(id, "a1", g_svstats[id].a1);
|
||||
int dw = (uint8_t)g_svstats[id].wn - g_svstats[id].wn0t;
|
||||
int age = dw * 7 * 86400 + g_svstats[id].tow - g_svstats[id].t0t; // t0t is PRESCALED
|
||||
|
||||
long shift = g_svstats[id].a0 * (1LL<<20) + g_svstats[id].a1 * age; // in 2^-50 seconds units
|
||||
idb.addValue(id, "utc_diff_ns", 1.073741824*ldexp(1.0*shift, -20));
|
||||
|
||||
idb.addValue(id, "utcoffset", {
|
||||
{"a0", g_svstats[id].a0},
|
||||
{"a1", g_svstats[id].a1},
|
||||
{"delta", 1.073741824*ldexp(1.0*shift, -20)}
|
||||
},
|
||||
satUTCTime(id));
|
||||
}
|
||||
else if((frame == 5 && page <= 24) || (frame==4 && page >=25 && page<=32)) {
|
||||
g_gpsalma[svstat.gpsalma.sv] = svstat.gpsalma;
|
||||
|
|
@ -2111,17 +1945,18 @@ try
|
|||
cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" wn "<<bm.wn<<" sow " <<bm.sow<<" BeiDou C"<<id.sv<<"@"<<id.sigid<<" health changed from "<<(int)oldbm.sath1 <<" to "<< (int)bm.sath1 <<", lastseen "<<ephAge(oldbm.sow, bm.sow)/3600.0<<" hours"<<endl;
|
||||
}
|
||||
|
||||
idb.addValue(id, "atomic_offset_ns", 1000000.0*bm.getAtomicOffset().first);
|
||||
idb.addValue(id, "t0c", bm.getT0c());
|
||||
idb.addValue(id, "af0", bm.a0 * 2);
|
||||
idb.addValue(id, "af1", bm.a1 / 16);
|
||||
idb.addValue(id, "af2", bm.a2 / 128); // scaled to galileo units
|
||||
idb.addValue(id, "health", bm.sath1);
|
||||
idb.addValue(id, "clock", {{"offset_ns", 1000000.0*bm.getAtomicOffset().first},
|
||||
{"t0c", bm.getT0c()},
|
||||
{"af0", bm.a0 * 2},
|
||||
{"af1", bm.a1 / 16},
|
||||
{"af2", bm.a2 / 128}}, satUTCTime(id)); // scaled to galileo units
|
||||
|
||||
idb.addValue(id, "beidouhealth", {{"sath1", bm.sath1}}, satUTCTime(id));
|
||||
if(svstat.lastBeidouMessage1.wn >=0 && svstat.lastBeidouMessage1.t0c != bm.t0c) {
|
||||
auto oldOffset = svstat.lastBeidouMessage1.getAtomicOffset(bm.sow);
|
||||
auto newOffset = bm.getAtomicOffset(bm.sow);
|
||||
svstat.timeDisco = oldOffset.first - newOffset.first;
|
||||
idb.addValue(id, "clock_jump_ns", svstat.timeDisco);
|
||||
idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
|
||||
}
|
||||
svstat.lastBeidouMessage1 = bm;
|
||||
}
|
||||
|
|
@ -2152,22 +1987,19 @@ try
|
|||
double hours = (bm.getT0e() - svstat.oldBeidouMessage.getT0e())/3600;
|
||||
if(hours < 4) {
|
||||
svstat.latestDisco = jump.length();
|
||||
idb.addValue(id, "eph-disco", jump.length());
|
||||
}
|
||||
else
|
||||
svstat.latestDisco = -1;
|
||||
|
||||
if(hours < 24) {
|
||||
idb.addValue(id, nanoTime(id.gnss, bm.wn, bm.sow), "eph-disco2",
|
||||
idb.addValue(id, "eph-disco",
|
||||
{{"meters", jump.length()},
|
||||
{"seconds", hours*3600.0},
|
||||
{"oldx", oldpoint.x}, {"oldy", oldpoint.y}, {"oldz", oldpoint.z},
|
||||
{"x", newpoint.x}, {"y", newpoint.y}, {"z", newpoint.z},
|
||||
{"x", newpoint.x}, {"y", newpoint.y}, {"z", newpoint.z},
|
||||
{"oid", 0},
|
||||
{"oldoid", 0}});
|
||||
{"oldoid", 0}}, nanoTime(id.gnss, bm.wn, bm.sow)/1000000000.0);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -2230,7 +2062,8 @@ try
|
|||
// cout<<"Glonass now: "<<humanTime(glotime + 820368000) << " n4 "<<(int)gm.n4<<" NT "<<(int)gm.NT<< " wn "<<svstat.wn <<" tow " <<svstat.tow<<endl;
|
||||
}
|
||||
else if(strno == 2) {
|
||||
idb.addValue(id, "glohealth", gm.Bn);
|
||||
if(svstat.wn > 0 && svstat.tow >= 0)
|
||||
idb.addValue(id, "glohealth", {{"Bn", gm.Bn}}, satUTCTime(id));
|
||||
if(oldgm.Bn != gm.Bn) {
|
||||
cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" n4 "<< (int)gm.n4<<" NT " << (int)gm.NT<<" GLONASS R"<<id.sv<<"@"<<id.sigid<<" health changed from "<<(int)oldgm.Bn <<" to "<< (int)gm.Bn <<endl;
|
||||
|
||||
|
|
@ -2239,12 +2072,12 @@ try
|
|||
}
|
||||
else if(strno == 4) {
|
||||
svstat.aode = gm.En * 24;
|
||||
idb.addValue(id, "glo_taun_ns", gm.getTaunNS());
|
||||
idb.addValue(id, "ft", gm.FT);
|
||||
idb.addValue(id, "glo_taun_ns", {{"value", gm.getTaunNS()}}, satUTCTime(id));
|
||||
idb.addValue(id, "ft", {{"value", gm.FT}}, satUTCTime(id));
|
||||
if(oldgm.taun && oldgm.taun != gm.taun) {
|
||||
if(gm.getGloTime() - oldgm.getGloTime() < 300) {
|
||||
svstat.timeDisco = gm.getTaunNS() - oldgm.getTaunNS();
|
||||
idb.addValue(id, "clock_jump_ns", svstat.timeDisco);
|
||||
idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
|
||||
}
|
||||
}
|
||||
if(gm.x && gm.y && gm.z) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue